JP5624101B2 - Excavator display system, excavator and computer program for excavator display - Google Patents

Description

  The present invention relates to a display system for an excavating machine, an excavating machine including the excavating machine, and a computer program for displaying the excavating machine used in the display system for the excavating machine.

  Generally, in a hydraulic excavator, a work machine including a bucket is driven by an operator operating an operation lever. At this time, when excavating a slope with a predetermined gradient or a groove with a predetermined depth, it is determined whether or not the operator is excavating exactly according to the target shape simply by observing the operation of the work implement. It is difficult. Further, it is necessary for an operator to be able to excavate such a slope with a predetermined slope efficiently and accurately according to a target shape. For this reason, for example, there is a technique for assisting an operator by displaying position information of a bucket positioned at the tip of a work machine on a display device (for example, Patent Document 1).

International Publication No. 2002/040783

  By the way, as a bucket attached to a working machine of a hydraulic excavator, a bucket is known in which the bucket can swing in the front-rear direction or the vertical direction of the hydraulic excavator (see arrow SW shown in FIG. 1). Such a bucket rotates around a bucket axis (an axis at a position where the arm and the bucket are connected) in a positional relationship parallel to an axis around which the arm and boom of the work implement rotate. However, there is a so-called tilt bucket that rotates around an axis orthogonal to the bucket axis on which the bucket rotates. In other words, the tilt bucket is capable of excavation work or the like in a state where the bucket is swung in the left and right direction of the hydraulic excavator (see arrow TIL shown in FIG. 1) and the bucket is tilted to either the left or right. The technique of patent document 1 displays the symbol of the bucket rotated according to the angle of the bucket back surface with respect to a horizontal surface calculated by the control unit. However, the technique of Patent Document 1 is intended for a bucket that can only rotate around a bucket axis that is in a positional relationship parallel to the axis around which the arm and boom of the work implement rotate. There is no description or suggestion about the tilt bucket.

  An object of this invention is to provide the information for assisting operation with respect to the operator of the excavation machine provided with the tilt bucket.

  The display system for a hydraulic excavator according to the present invention rotates about a first axis and rotates about a second axis orthogonal to the first axis, thereby rotating the first axis and the second axis. It is used for an excavating machine including a working machine having a bucket whose cutting edge is inclined with respect to a third axis perpendicular to the main axis, and a main body to which the working machine is attached, and information on the current position and posture of the excavating machine. A vehicle state detection unit for detecting; a bucket inclination detection unit for detecting an inclination angle of the bucket; a storage unit for storing at least position information of a target surface indicating a target shape of a work target; an inclination angle of the bucket and the excavation; From the position of the cutting edge of the bucket determined based on information on the current position and orientation of the machine, the angle formed by the cutting edge and the target surface is determined as the cutting edge inclination angle, Comprising a processing unit that displays posture information indicating the information about the attitude of the bucket based on the cutting edge inclination angle on the screen of the display device.

  In this invention, the said process part calculates | requires the angle which the plane which orthogonally crosses the said 2nd axis | shaft and passes through the blade edge | tip of the said bucket cross | intersects the said target surface, and the said blade edge | tip make as said blade edge | side inclination angle. preferable.

  In this invention, it is preferable that the said process part changes the aspect of the said attitude | position information displayed on the screen of the said display apparatus before the said blade edge | tip of the said bucket faces the said target surface, and after facing directly. .

  In this invention, it is preferable that the said process part displays the said attitude | position information on the edge part of the screen of the said display apparatus.

  In this invention, it is preferable that the said process part displays the said attitude | position information on the screen of the said display apparatus, when the said excavation machine constructs a slope.

  The excavating machine according to the present invention rotates about a first axis and rotates about a second axis orthogonal to the first axis, thereby rotating the first axis orthogonal to the first axis and the second axis. A work machine having a bucket whose blade edge is inclined with respect to three axes, a main body part to which the work machine is attached, a traveling device provided in the main body part, and the display system of the excavating machine described above are included.

  The computer program for display of an excavating machine according to the present invention rotates about a first axis and rotates about a second axis orthogonal to the first axis, thereby rotating the first axis and the second axis. An excavating machine including a working machine having a bucket whose cutting edge is inclined with respect to a third axis orthogonal to the axis, and a main body portion to which the working machine is attached, and the inclination angle of the bucket and the excavating machine Based on the information on the current position and orientation of the bucket, a procedure for obtaining the position of the blade edge of the bucket, and a plane perpendicular to the second axis and passing through the blade edge of the bucket intersects the target surface from the position of the blade edge. The procedure for obtaining the angle between the line of intersection and the cutting edge as the cutting edge inclination angle, and the posture information indicating information on the posture of the bucket based on the obtained cutting edge inclination angle of the display device Comprising a step of displaying the face, the.

  The present invention can provide information for assisting operation to an operator of an excavating machine having a tilt bucket.

FIG. 1 is a perspective view of a hydraulic excavator 100 according to the present embodiment. FIG. 2 is a front view of the bucket 9 provided in the excavator 100 according to the present embodiment. FIG. 3 is a perspective view of a bucket 9a according to another example provided in the excavator 100 according to the present embodiment. FIG. 4 is a side view of the excavator 100. FIG. 5 is a rear view of the excavator 100. FIG. 6 is a block diagram illustrating a control system provided in the excavator 100. FIG. 7 is a diagram showing the design terrain indicated by the design terrain data. FIG. 8 is a diagram illustrating an example of a guidance screen. FIG. 9 is a diagram illustrating an example of a guidance screen. FIG. 10 is a flowchart illustrating an example of posture information display control. FIG. 11 is a diagram for explaining an example of a method for obtaining the current blade edge position. FIG. 12 is a diagram for explaining an example of a method for obtaining the current blade edge position. FIG. 13 is a diagram for explaining an example of a method for obtaining the current cutting edge position. FIG. 14 is a diagram for explaining an example of a method for obtaining the current cutting edge position. FIG. 15 is an explanatory diagram of a method for obtaining the blade edge inclination angle. FIG. 16 is an explanatory diagram of a method for obtaining the blade edge inclination angle.

  DESCRIPTION OF EMBODIMENTS Embodiments (embodiments) for carrying out the present invention will be described in detail with reference to the drawings. The present invention is not limited by the contents described in the following embodiments. Moreover, although the following embodiment demonstrates a hydraulic excavator as an example of an excavation machine, if an excavation machine has the function to excavate or backfill an object, it is not limited to a hydraulic excavator.

<Overall configuration of excavating machine>
FIG. 1 is a perspective view of a hydraulic excavator 100 according to the present embodiment. FIG. 2 is a front view of the bucket 9 provided in the excavator 100 according to the present embodiment. FIG. 3 is a perspective view of a bucket 9a according to another example provided in the excavator 100 according to the present embodiment. FIG. 4 is a side view of the excavator 100. FIG. 5 is a rear view of the excavator 100. FIG. 6 is a block diagram illustrating a control system provided in the excavator 100. FIG. 7 is a diagram showing the design terrain indicated by the design terrain data.

  In the present embodiment, a hydraulic excavator 100 as an excavating machine has a vehicle main body 1 and a work implement 2 as main body portions. The vehicle main body 1 includes an upper swing body 3 and a traveling device 5. The upper swing body 3 accommodates devices such as a power generation device and a hydraulic pump (not shown) inside the engine room 3EG. The engine room 3EG is disposed on one end side of the upper swing body 3.

  In the present embodiment, the excavator 100 uses, for example, an internal combustion engine such as a diesel engine as a power generation device, but the excavator 100 is not limited to this. The hydraulic excavator 100 may include, for example, a so-called hybrid power generation device in which an internal combustion engine, a generator motor, and a power storage device are combined.

  The upper swing body 3 has a cab 4. The cab 4 is placed on the other end side of the upper swing body 3. That is, the cab 4 is arranged on the side opposite to the side where the engine room 3EG is arranged. A display input device 38 and an operation device 25 shown in FIG. These will be described later. The traveling device 5 is equipped with the upper swing body 3. The traveling device 5 has crawler belts 5a and 5b. The traveling device 5 travels when the hydraulic motor (not shown) is driven and the crawler belts 5a and 5b rotate to travel the hydraulic excavator 100. The work machine 2 is attached to the side of the cab 4 of the upper swing body 3.

  The excavator 100 may include a tire instead of the crawler belts 5a and 5b, and a traveling device that can travel by transmitting the driving force of a diesel engine (not shown) to the tire via a transmission. . For example, a wheel-type hydraulic excavator may be used as the hydraulic excavator 100 having such a configuration. Further, the hydraulic excavator 100 includes a traveling device having such a tire, a work machine is attached to the vehicle main body (main body portion), and the upper swing body and the swing mechanism thereof are not provided as shown in FIG. For example, a backhoe loader may be used. That is, the backhoe loader is provided with a traveling device having a work machine attached to the vehicle body and constituting a part of the vehicle body. By attaching a tilt bucket to the bucket of the working machine of such a backhoe loader, an operation such as excavating a slope can be performed.

  In the upper swing body 3, the side on which the work implement 2 and the cab 4 are arranged is the front, and the side on which the engine room 3EG is arranged is the rear. The left side toward the front is the left of the upper swing body 3, and the right side toward the front is the right of the upper swing body 3. Further, the excavator 100 or the vehicle main body 1 has the traveling device 5 side on the lower side with respect to the upper swing body 3, and the upper swing body 3 side on the basis of the traveling device 5. When the excavator 100 is installed on a horizontal plane, the lower side is the vertical direction, that is, the gravity direction side, and the upper side is the opposite side of the vertical direction.

  The work machine 2 includes a boom 6, an arm 7, a bucket 9, a boom cylinder 10, an arm cylinder 11, a bucket cylinder 12, and a tilt cylinder 13. Note that an arrow SW and an arrow TIL shown in FIG. 1 or 2 indicate directions in which the bucket 9 can rotate. A base end portion of the boom 6 is swingably attached to a front portion of the vehicle main body 1 via a boom pin 14. A base end portion of the arm 7 is swingably attached to a tip end portion of the boom 6 via an arm pin 15. A connecting member 8 is attached to the tip of the arm 7 via a bucket pin 16. The connecting member 8 is attached to the bucket 9 via a tilt pin 17. The connecting member 8 is connected to the bucket cylinder 12 via a pin (not shown), and the bucket 9 swings (see SW shown in FIG. 1) when the bucket cylinder 12 expands and contracts. That is, the bucket 9 is attached so as to be rotatable about an axis orthogonal to the extending direction of the arm 7. The boom pin 14, the arm pin 15, and the bucket pin 16 are all arranged in a parallel positional relationship. That is, the central axes of the pins are in a positional relationship parallel to each other.

  Note that “orthogonal” described below means a positional relationship in which two objects such as two lines (or axes), a line (axis) and a surface, or a surface and a surface are orthogonal to each other in space. For example, when a plane containing one line (or axis) and a plane containing another line (or axis) are parallel and viewed from a direction perpendicular to either of these planes, A state where one line and another line are orthogonal is expressed as one line and another line being orthogonal. The same applies to the case of a line (axis) and a surface, and a surface and a surface.

(Bucket 9)
In the present embodiment, the bucket 9 is called a tilt bucket. The bucket 9 is connected to the arm 7 via the connecting member 8 and further via the bucket pin 16. Further, in the connecting member 8, the bucket 9 is attached via a tilt pin 17 on the bucket 9 side opposite to the side on which the bucket pin 16 of the connecting member 8 is attached. The tilt pin 17 is orthogonal to the bucket pin 16. That is, the plane including the central axis of the tilt pin 17 is orthogonal to the central axis of the bucket pin 16 . Thus, the bucket 9 is attached to the connecting member 8 through the tilt pin 17 so as to be rotatable about the central axis of the tilt pin 17 (see the arrow TIL shown in FIGS. 1 and 2). With such a structure, the bucket 9 can be rotated about the central axis (first axis) of the bucket pin 16 and can be rotated about the central axis (second axis) of the tilt pin 17. . The central axis extending in the axial direction of the bucket pin 16 is the first axis AX1, and the central axis in the extending direction of the tilt pin 17 orthogonal to the bucket pin 16 is the second axis AX2 orthogonal to the first axis AX1. For this reason, the bucket 9 can be rotated about the first axis AX1 and can be rotated about the second axis AX2. That is, when the bucket 9 is based on the third axis AX3 that is in a positional relationship orthogonal to both the first axis AX1 and the second axis AX2, the bucket 9 rotates to the left and right (arrow TIL shown in FIG. 2). It is possible to move. Then, by rotating the bucket 9 to the left or right, the cutting edge 9T (more specifically, the cutting edge row 9TG) can be inclined with respect to the ground.

  The bucket 9 includes a plurality of blades 9B. In the bucket 9, the plurality of blades 9 </ b> B are attached to the end of the bucket 9 opposite to the side on which the tilt pin 17 is attached. The plurality of blades 9B are arranged in a row in a direction perpendicular to the tilt pin 17, that is, in a positional relationship parallel to the first axis AX1. The cutting edge 9T is the tip of the blade 9B. In the present embodiment, the cutting edge row 9TG refers to a plurality of cutting edges 9T arranged in a row. The cutting edge row 9TG is an assembly of cutting edges 9T. In expressing the cutting edge row 9TG, in this embodiment, a straight line (hereinafter referred to as a cutting edge row line) LBT connecting a plurality of cutting edges 9T is used.

  The tilt cylinder 13 connects the bucket 9 and the connecting member 8. That is, the tip of the cylinder rod of the tilt cylinder 13 is connected to the main body side of the bucket 9, and the cylinder tube side of the tilt cylinder 13 is connected to the connecting member 8. In the present embodiment, the two tilt cylinders 13 and 13 connect both the bucket 9 and the left and right sides of the connecting member 8, but it is sufficient that at least one tilt cylinder 13 connects both. When one tilt cylinder 13 is extended, the other tilt cylinder 13 is contracted, so that the bucket 9 rotates around the tilt pin 17. As a result, the tilt cylinders 13 and 13 can incline the cutting edge 9T, more specifically, the cutting edge row 9TG, which is an assembly of cutting edge 9T represented by the cutting edge line LBT, with respect to the third axis AX3. it can.

  The tilt cylinders 13 and 13 can be expanded and contracted by an operating device such as a slide switch or a foot pedal (not shown) in the cab 4. When the operating device is a slide type switch, the operator of the excavator 100 operates the slide type switch so that hydraulic oil is supplied to or discharged from the tilt cylinders 13, 13. 13 expands and contracts. As a result, the tilt bucket (bucket 9) rotates to the left and right (arrow TIL shown in FIG. 2) by the amount corresponding to the amount of operation with respect to the third axis AX3 (the blade edge 9T is inclined).

  The bucket 9a shown in FIG. 3 is a kind of tilt bucket, and is mainly used for constructing a slope. The bucket 9 a rotates about the central axis of the tilt pin 17. The bucket 9a includes a single plate-like blade 9Ba at the end opposite to the side to which the tilt pin 17 is attached. The cutting edge 9Ta, which is the tip of the blade 9Ba, is in a direction perpendicular to the central axis of the tilt pin 17, that is, in a positional relationship parallel to the first axis AX1 shown in FIG. It is a straight part. When the bucket 9a includes one blade 9Ba, the blade edge 9Ta and the blade edge row 9TGa indicate the same place. In expressing the cutting edge 9Ta or the cutting edge row 9TGa, the cutting edge row line LBT is used in the present embodiment. The cutting edge row line LBT is a straight line in the direction in which the cutting edge 9Ta extends.

  As shown in FIG. 4, the length of the boom 6, that is, the length from the boom pin 14 to the arm pin 15 is L1. The length of the arm 7, that is, the length from the center of the arm pin 15 to the center of the bucket pin 16 is L2. The length of the connecting member 8, that is, the length from the center of the bucket pin 16 to the center of the tilt pin 17 is L3. The length L3 of the connecting member 8 is a radius at which the bucket 9 rotates about the central axis of the bucket pin 16. The length of the bucket 9, that is, the length from the center of the tilt pin 17 to the cutting edge 9T of the bucket 9 is L4.

  The boom cylinder 10, the arm cylinder 11, the bucket cylinder 12, and the tilt cylinder 13 shown in FIG. 1 are hydraulic cylinders that are driven by adjusting the expansion and contraction and speed according to the pressure (hereinafter referred to as appropriate hydraulic pressure) or flow rate of hydraulic oil, respectively. It is. The boom cylinder 10 drives the boom 6 and swings it up and down. The arm cylinder 11 drives the arm 7 and rotates the arm 7 about the central axis of the arm pin 15. The bucket cylinder 12 drives the bucket 9 and rotates the bucket 9 about the central axis of the bucket pin 16. A proportional control valve 37 shown in FIG. 6 is arranged between hydraulic cylinders such as the boom cylinder 10, the arm cylinder 11, the bucket cylinder 12, and the tilt cylinder 13 and a hydraulic pump (not shown). The work machine electronic control unit 26 to be described later controls the proportional control valve 37, whereby the flow rate of hydraulic oil supplied to the boom cylinder 10, the arm cylinder 11, the bucket cylinder 12, and the tilt cylinder 13 is controlled. As a result, the operations of the boom cylinder 10, the arm cylinder 11, the bucket cylinder 12 and the tilt cylinder 13 are controlled.

  As shown in FIG. 4, the boom 6, the arm 7 and the bucket 9 are respectively provided with a first stroke sensor 18A, a second stroke sensor 18B, a third stroke sensor 18C, and a bucket inclination sensor 18D as a bucket inclination detection unit. Is provided. The first stroke sensor 18 </ b> A, the second stroke sensor 18 </ b> B, and the third stroke sensor 18 </ b> C are posture detection units that detect the posture of the work implement 2. The first stroke sensor 18 </ b> A detects the stroke length of the boom cylinder 10. The display control device 39 (see FIG. 6), which will be described later, calculates the tilt angle θ1 of the boom 6 with respect to the Za axis of the vehicle body coordinate system, which will be described later, from the stroke length of the boom cylinder 10 detected by the first stroke sensor 18A. The second stroke sensor 18B detects the stroke length of the arm cylinder 11. The display control device 39 calculates the inclination angle θ2 of the arm 7 with respect to the boom 6 from the stroke length of the arm cylinder 11 detected by the second stroke sensor 18B. The third stroke sensor 18C detects the stroke length of the bucket cylinder 12. The display control device 39 calculates the inclination angle θ3 of the bucket 9 with respect to the arm 7 from the stroke length of the bucket cylinder 12 detected by the third stroke sensor 18C. The bucket inclination sensor 18D detects the inclination angle θ4 of the bucket 9, that is, the inclination angle θ4 of the cutting edge 9T or the cutting edge row 9TG of the bucket 9 with respect to the third axis AX3. In the present embodiment, the cutting edge row 9TG is represented by the cutting edge row line LBT as described above, and therefore the inclination angle θ4 of the bucket 9 is based on the third axis AX3 and the inclination angle of the cutting edge row line LBT relative to the reference. It is.

  As shown in FIG. 4, the vehicle main body 1 includes a position detection unit 19. The position detector 19 detects the current position of the excavator 100. The position detection unit 19 includes two antennas 21 and 22 for RTK-GNSS (Real Time Kinematic-Global Navigation Satellite Systems, GNSS is a global navigation satellite system) (hereinafter referred to as GNSS antennas 21 and 22 as appropriate). A three-dimensional position sensor 23 and an inclination angle sensor 24 are included. The GNSS antennas 21 and 22 are installed on the vehicle main body 1, more specifically on the upper swing body 3. In the present embodiment, the GNSS antennas 21 and 22 are installed apart from each other by a certain distance along the Ya axis of the vehicle body coordinate system Xa-Ya-Za described later.

  Note that the GNSS antennas 21 and 22 are on the upper swing body 3 and in the front-rear direction of the excavator 100 (the direction of the Ya axis of the vehicle body coordinate system Xa-Ya-Za) or the left-right direction (the vehicle body coordinate system Xa). It suffices to be installed at both end positions separated in the direction of the Xa axis of -Ya-Za). Further, it may be installed on the upper swing body 3 and behind the counterweight (the rear end of the upper swing body 3) (not shown) or the cab 4. In any case, the detection accuracy of the current position of the excavator 100 is improved when the GNSS antennas 21 and 22 are installed at positions as far apart as possible. In addition, the GNSS antennas 21 and 22 are preferably installed at positions that do not hinder the visual field of the operator as much as possible. Further, the vehicle state such as the current position and posture of the excavating machine (in this embodiment, the hydraulic excavator 100) can be detected by the position detector 19 and the posture detector as the vehicle state detector.

  A signal corresponding to the GNSS radio wave received by the GNSS antennas 21 and 22 is input to the three-dimensional position sensor 23. The three-dimensional position sensor 23 detects the positions of the installation positions P1 and P2 of the GNSS antennas 21 and 22. As shown in FIG. 5, the tilt angle sensor 24 detects a tilt angle θ5 (hereinafter, appropriately referred to as a roll angle θ5) in the width direction of the vehicle body 1 with respect to the direction in which gravity acts, that is, the vertical direction Ng. In the present embodiment, the width direction means the width direction of the bucket 9 and coincides with the width direction of the upper swing body 3, that is, the left-right direction. However, when the work implement 2 includes a tilt bucket described later, the width direction of the bucket 9 may not match the width direction of the upper swing body 3.

  As shown in FIG. 6, the excavator 100 includes an operating device 25, a work implement electronic control device 26, a work implement control device 27, and a drilling machine display system (hereinafter referred to as a display system as appropriate) 101. The operation device 25 includes a work machine operation device 31, a work machine operation detection unit 32, a travel operation device 33, and a travel operation detection unit 34. The work machine operation device 31 is a device for an operator to operate the work machine 2 and is, for example, a joystick or an operation lever. Further, there are two sets of work implement operation members 31 and work implement operation detection units 32 (only one set is shown in FIG. 6). Work implement operating members 31 are installed on the left and right sides of an operation sheet (not shown) in the cab 4. For example, the bucket 9 and the boom 6 can be operated by operating the work implement operating member 31 installed on the right, and the arm 7 and the upper swivel can be operated by operating the work implement operating member 31 installed on the left. The body 3 can be operated. The work machine operation detection unit 32 detects the operation content of the work machine operation device 31 and sends it as a detection signal to the work machine electronic control device 26.

  The traveling operation device 33 is a device for an operator to operate traveling of the excavator 100, and is, for example, a joystick or an operating lever. Further, there are two sets of traveling operation members 33 and traveling operation detectors 34 (only one set is shown in FIG. 6). A traveling operation member 33 is installed in front of a not-shown operation seat in the cab 4 side by side. The crawler belt 5a on the right side can be operated by operating the traveling operation member 33 installed on the right side, and the crawler belt 5b on the left side can be operated by operating the traveling operation member 33 installed on the left side. it can. The travel operation detection unit 34 detects the operation content of the travel operation device 33 and sends it to the work implement electronic control device 26 as a detection signal.

  As shown in FIG. 6, the work machine electronic control device 26 includes a work machine side storage unit 35 including at least one of a RAM (Random Access Memory) and a ROM (Read Only Memory), and a calculation such as a CPU (Central Processing Unit). A portion 36 is provided. The work machine electronic control device 26 mainly controls the work machine 2. The work implement electronic control device 26 generates a control signal for operating the work implement 2 in accordance with the operation of the work implement operating device 31 and outputs the control signal to the work implement control device 27. The work machine control device 27 has a proportional control valve 37, and the proportional control valve 37 is controlled based on a control signal from the work machine electronic control device 26. The hydraulic oil having a flow rate corresponding to the control signal from the work machine electronic control device 26 flows out of the proportional control valve 37 and is supplied to at least one of the boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12. The boom cylinder 10, the arm cylinder 11, the bucket cylinder 12 and the tilt cylinder 13 shown in FIG. 1 are driven according to the hydraulic oil supplied from the proportional control valve 37. As a result, the work machine 2 operates.

<Display system 101>
The display system 101 is a system for providing an operator with information for excavating the ground in the work area and constructing it into a shape like a design surface described later. The display system 101 includes each of the stroke sensors such as the first stroke sensor 18A, the second stroke sensor 18B, and the third stroke sensor 18C in addition to the above-described three-dimensional position sensor 23, the tilt angle sensor 24, and the bucket tilt sensor 18D. It has a display input device 38 as a device, a display control device 39, and a sound generator 46 including a speaker or the like for informing an alarm sound. Further, the display system 101 includes a position detection unit 19 shown in FIG. For convenience, FIG. 6 shows the three-dimensional position sensor 23 and the tilt angle sensor 24 in the position detection unit 19, and the two antennas 21 and 22 are omitted.

  The display input device 38 is a display device having a touch panel type input unit 41 and a display unit 42 such as an LCD (Liquid Crystal Display). The display input device 38 displays a guidance screen for providing information for excavation. Various keys are displayed on the guidance screen. An operator as an operator (a service person when checking or repairing the excavator 100) can execute various functions of the display system 101 by touching various keys on the guidance screen. The guidance screen will be described later.

  The display control device 39 executes various functions of the display system 101. The display control device 39 is an electronic control device having a storage unit 43 including at least one of a RAM and a ROM, and a processing unit 44 such as a CPU. The storage unit 43 stores work implement data. The work machine data includes the length L1 of the boom 6 described above, the length L2 of the arm 7, the length L3 of the connecting member 8, and the length L4 of the bucket 9. When the bucket 9 is replaced, the length L3 of the connecting member 8 and the length L4 of the bucket 9 as work machine data are input from the input unit 41 according to the dimensions of the replaced bucket 9, and are stored in the storage unit 43. Is remembered. The work implement data includes the minimum value and the maximum value of the inclination angle θ1 of the boom 6, the inclination angle θ2 of the arm 7, and the inclination angle θ3 of the bucket 9. The processing unit 44 reads and executes the computer program for display of the excavating machine according to the present embodiment stored in the storage unit 43 to display a guidance screen or to operate the bucket 9 to the operator of the excavator 100. Posture information for guidance is displayed on the display unit 42.

  The display control device 39 and the work machine electronic control device 26 can communicate with each other via a wireless or wired communication means. The storage unit 43 of the display control device 39 stores design terrain data created in advance. The design terrain data is information regarding the shape and position of the three-dimensional design terrain, and is information on the design surface 45. The design terrain indicates the target shape of the ground to be worked. The display control device 39 displays a guidance screen on the display input device 38 based on the design terrain data and information such as detection results from the various sensors described above. Specifically, as shown in FIG. 7, the design landform is composed of a plurality of design surfaces 45 each represented by a triangular polygon. In FIG. 7, only one of the plurality of design surfaces is denoted by reference numeral 45, and the other design surfaces are omitted. The target work object is one or a plurality of design surfaces among these design surfaces 45. The operator selects one or a plurality of design surfaces 45 among these design surfaces 45 as the target surface 70. The target surface 70 is a surface to be excavated from among the plurality of design surfaces 45. The display control device 39 causes the display input device 38 to display a guidance screen for notifying the operator of the position of the target surface 70.

<Guidance screen>
8 and 9 are diagrams illustrating an example of a guidance screen. The guidance screen indicates the positional relationship between the target surface 70 and the cutting edge 9T of the bucket 9 and guides the work implement 2 to the operator of the excavator 100 so that the ground as the work target has the same shape as the target surface 70. It is a screen for. As shown in FIGS. 8 and 9, the guide screen includes a rough excavation mode guide screen (hereinafter appropriately referred to as a rough excavation screen 53) and a fine excavation mode guide screen (hereinafter appropriately referred to as a fine excavation screen 54). Including.

(Example of rough excavation screen 53)
A rough excavation screen 53 shown in FIG. 8 is displayed on the screen 42 </ b> P of the display unit 42. The rough excavation screen 53 is a front view 53a showing the design landform of the work area (design surface 45 including the target surface 70) and the current position of the excavator 100, and a side view showing the positional relationship between the target surface 70 and the excavator 100. Including FIG. A front view 53a of the rough excavation screen 53 represents the design terrain in front view by a plurality of triangular polygons. FIG. 8 shows a state where the excavator 100 faces the slope when the design terrain is a slope. Therefore, in the front view 53a, when the excavator 100 is tilted, the design surface representing the design topography is also tilted.

  In addition, the target surface 70 selected as a target work target from a plurality of design surfaces 45 (only one is assigned in FIG. 8) is displayed in a different color from the other design surfaces 45. In the front view 53a of FIG. 8, the current position of the excavator 100 is indicated by the icon 61 when the excavator 100 is viewed from the back, but may be indicated by other symbols. Further, the front view 53a includes information for causing the excavator 100 to face the target surface 70 in a straight line. Information for causing the excavator 100 to face the target surface 70 is displayed as a facing compass 73. In the facing compass 73, for example, the arrow-shaped pointer 73I rotates in the arrow R direction, and the facing direction with respect to the target surface 70 and the direction in which the excavator 100 should be turned or the bucket 9 is inclined with respect to the third axis AX3. It is posture information such as a pattern or an icon for guiding the direction to be performed. The posture information is information related to the posture of the bucket 9 and includes a pattern, a numerical value, a number, or the like. In order to make the excavator 100 directly face the target surface 70, the traveling device 5 may be operated to move the excavator 100 to face the target surface 70. The operator of the excavator 100 can confirm the degree of confrontation with respect to the target surface 70 by using the confrontation compass 73. The facing compass 73 rotates in accordance with the degree of facing to the target surface 70, and when the excavator 100 or the bucket 9 faces the target surface 70, for example, the indication direction of the pointer 73I as viewed from the operator is on the screen 42P. It is designed to face upward. For example, as shown in FIG. 8, when the pointer 73 </ b> I has a triangular shape, the excavator 100 or the bucket 9 is more directly facing the target surface 70 as the direction indicated by the apex of the triangle is higher. Indicates. For this reason, the operator can easily face the hydraulic excavator 100 or the bucket 9 to the target surface 70 by operating the hydraulic excavator 100 based on the rotation angle of the pointer 73I.

  The side view 53b of the rough excavation screen 53 includes an image indicating the positional relationship between the target surface 70 and the cutting edge 9T of the bucket 9, and distance information indicating the distance between the target surface 70 and the cutting edge 9T of the bucket 9. Specifically, the side view 53b includes a target plane line 79 and an icon 75 of the excavator 100 as viewed from the side. A target plane line 79 indicates a cross section of the target plane 70. As shown in FIG. 7, the target surface line 79 is obtained by calculating an intersection line 80 between the plane 77 passing through the current position of the cutting edge 9T of the bucket 9 and the design surface 45. The intersection line 80 is obtained by the processing unit 44 of the display control device 39. A method for obtaining the current position of the blade edge 9T of the bucket 9 will be described later.

  In the side view 53b, the distance information indicating the distance between the target surface 70 and the blade edge 9T of the bucket 9 includes graphic information 84. The distance between the target surface 70 and the cutting edge 9T of the bucket 9 is the distance between the cutting edge 9T and a point where a line drawn from the cutting edge 9T in the vertical direction (gravity direction) toward the target surface 70 intersects the target surface 70. . Further, the distance between the target surface 70 and the cutting edge 9T of the bucket 9 is the distance between the cutting edge 9T and the cutting edge 9T when a perpendicular line is dropped from the cutting edge 9T to the target surface 70 (the perpendicular line is perpendicular to the target surface 70). It may be. The graphic information 84 is information that graphically represents the distance between the cutting edge 9T of the bucket 9 and the target surface 70. The graphic information 84 is a guide indicator for indicating the position of the cutting edge 9T of the bucket 9. Specifically, the graphic information 84 includes an index bar 84a and an index mark 84b indicating a position in the index bar 84a where the distance between the cutting edge of the bucket 9 and the target surface 70 corresponds to zero. Each index bar 84a is lit according to the shortest distance between the tip of the bucket 9 and the target surface 70. It should be noted that on / off of the display of the graphic information 84 may be changed by operating the input unit 41 by the operator of the excavator 100.

  A distance (numerical value) (not shown) may be displayed on the rough excavation screen 53 in order to show the positional relationship between the target surface line 79 and the excavator 100 as described above. The operator of the excavator 100 can easily excavate the current terrain into the design terrain by moving the cutting edge 9T of the bucket 9 along the target plane line 79. The rough excavation screen 53 displays a screen switching key 65 for switching the guide screen. The operator can switch from the rough excavation screen 53 to the fine excavation screen 54 by operating the screen switching key 65.

(Example of delicate excavation screen 54)
The delicate excavation screen 54 shown in FIG. 9 is displayed on the screen 42P of the display unit 42. The fine excavation screen 54 shows the positional relationship between the target surface 70 and the excavator 100 in more detail than the rough excavation screen 53. That is, the fine excavation screen 54 shows the positional relationship between the target surface 70 and the cutting edge 9T of the bucket 9 in more detail than the rough excavation screen 53. The delicate excavation screen 54 includes a front view 54 a showing the target surface 70 and the bucket 9, and a side view 54 b showing the target surface 70 and the bucket 9. The front view 54a of the delicate excavation screen 54 includes an icon 89 indicating the bucket 9 as viewed from the front, and a line 78 indicating the cross section of the target surface 70 as viewed from the front (hereinafter referred to as target surface line 78 as appropriate). The front view is a direction orthogonal to the extending direction of the central axis of the bucket pin 16 shown in FIGS. 1 and 2 (the rotational central axis direction of the bucket 9), and the bucket 9 is viewed from the rear of the excavator 100. That is.

  The target surface line 78 is obtained as follows. When a perpendicular is drawn from the blade edge 9T of the bucket 9 in the vertical direction (the direction of gravity), the intersection line generated when the plane including the perpendicular intersects the target plane 70 is the target plane line 78. That is, the target plane line 78 in the global coordinate system is obtained. On the other hand, when the line is further lowered from the cutting edge 9T of the bucket 9 toward the target surface 70 on condition that the vehicle body 1 is in a positional relationship parallel to the vertical line, the plane including the line is the target surface. A line of intersection formed when crossing 70 may be used as the target plane line 78. That is, it becomes the target plane line 78 in the vehicle body coordinate system. Which coordinate system is used to display the target plane line 78 can be selected by operating the switching key (not shown) of the input unit 41 by the operator.

  The side view 54b of the delicate excavation screen 54 includes an icon 90 of the bucket 9 and a target plane line 79 in a side view. Moreover, the front view 54a and the side view 54b of the delicate excavation screen 54 display information indicating the positional relationship between the target surface 70 and the bucket 9 as described below. The side view is the direction in which the central axis of the bucket pin 16 shown in FIGS. 1 and 2 extends (in the direction of the central axis of rotation of the bucket 9) and is viewed from the left side of the excavator 100.

  In the front view 54 a, information indicating the positional relationship between the target surface 70 and the bucket 9 includes inclination information 86 c of the bucket 9. The inclination information 86c indicates the inclination of the cutting edge 9T of the bucket 9 with respect to the target surface 70. Specifically, the inclination information 86c indicates the magnitude of the angle (θe shown in FIG. 9) between the cutting edge line LBT passing through the cutting edge 9T of the bucket 9 and the target surface line 78. The front view 54a is distance information indicating the distance in the vehicle body coordinate system Za (or Z in the global coordinate system) between the cutting edge 9T and the target surface 70 as information indicating the positional relationship between the target surface 70 and the bucket 9. May be included. This distance is the distance between the closest position to the target surface 70 and the target surface 70 among the positions of the bucket 9 in the width direction of the cutting edge 9T. That is, as described above, the distance between the target surface 70 and the cutting edge 9T of the bucket 9 is such that the line drawn downward from the cutting edge 9T toward the target surface 70 intersects the target surface 70 and the cutting edge 9T. It may be a distance. Further, the distance between the target edge 70 and the cutting edge 9T of the bucket 9 is the distance between the cutting edge 9T and the cutting edge 9T when the perpendicular line is dropped from the cutting edge 9T to the target face 70 (the perpendicular line is perpendicular to the target face 70). It may be.

  The delicate excavation screen 54 includes graphic information 84 that graphically indicates the distance between the cutting edge 9T of the bucket 9 and the target surface 70 described above. Similar to the graphic information 84 on the rough excavation screen 53, the graphic information 84 includes an index bar 84a and an index mark 84b. As described above, on the delicate excavation screen 54, the relative positional relationship between the target plane lines 78 and 79 and the cutting edge 9T of the bucket 9 is displayed in detail. The operator of the excavator 100 moves the cutting edge 9T of the bucket 9 along the target plane lines 78 and 79 so that the current terrain has the same shape as the three-dimensional design terrain, and excavates more easily and accurately. can do. Note that a screen switching key 65 is displayed on the fine excavation screen 54 in the same manner as the rough excavation screen 53 described above. The operator can switch from the fine excavation screen 54 to the rough excavation screen 53 by operating the screen switching key 65. Next, in the excavator 100 including the tilt bucket, control for displaying posture information (for example, a picture, a numerical value, or a number) for giving an operation index to the operator of the excavator 100 on the screen 42P of the display unit 42. (Hereinafter referred to as posture information display control as appropriate) will be described.

<Example of attitude information display control>
FIG. 10 is a flowchart illustrating an example of posture information display control. In the present embodiment, the posture information display control is realized by the display control device 39 included in the display system 101 shown in FIG. In executing the posture information display control, in step S101, the display control device 39, more specifically, the processing unit 44, determines the inclination angle of the bucket 9 (hereinafter referred to as bucket inclination angle as appropriate) θ4 and the current position of the excavator 100. To get. The bucket inclination angle θ4 is detected by the bucket inclination sensor 18D shown in FIGS. Further, the current position of the excavator 100 is detected by the GNSS antennas 21 and 22 and the three-dimensional position sensor 23 shown in FIG. The processing unit 44 acquires information indicating the bucket inclination angle θ4 from the bucket inclination sensor 18D, and acquires information indicating the current position of the excavator 100 from the three-dimensional position sensor 23.

  Next, it progresses to step S102 and the process part 44 calculates | requires the present position (henceforth a current blade edge position suitably) of the blade edge | tip 9T of the bucket 9. FIG. The current cutting edge position is obtained based on the bucket inclination angle θ4 that is the inclination angle of the bucket 9 with respect to the third axis AX3 shown in FIG. 2 or FIG. 4 and information on the current position and posture of the excavator 100. Next, an example of a method for obtaining the current blade edge position will be described.

(An example of a method for obtaining the current edge position)
11 to 14 are diagrams for explaining an example of a method for obtaining the current blade edge position. 11 is a side view of the excavator 100, FIG. 12 is a rear view of the excavator 100, FIG. 13 is a diagram showing the inclined bucket 9, and FIG. 14 is in the Ya-Za plane of the vehicle body coordinate system. It is a figure which shows the present blade edge | tip position in. In this method, the current cutting edge position is the position of the cutting edge 9T at the center of the bucket 9 in the width direction. In obtaining the current cutting edge position, the display control device 39 obtains the vehicle body coordinate system [Xa, Ya, Za] with the installation position P1 of the GNSS antenna 21 as the origin as shown in FIG. In this example, it is assumed that the longitudinal direction of the hydraulic excavator 100, that is, the Ya axis direction of the coordinate system (vehicle body coordinate system) COM of the vehicle main body 1 is inclined with respect to the Y axis direction of the global coordinate system COG. The coordinates of the boom pin 14 in the vehicle main body coordinate system COM are (0, Lb1, -Lb2) and are stored in the storage unit 43 of the display control device 39 in advance.

  The three-dimensional position sensor 23 shown in FIGS. 4 and 6 detects (calculates) the installation positions P1 and P2 of the GNSS antennas 21 and 22. The processing unit 44 acquires the coordinates of the detected installation positions P1 and P2, and calculates a unit vector in the Ya-axis direction using Expression (1). In Formula (1), P1 and P2 represent the coordinates of the respective installation positions P1 and P2.

  As shown in FIG. 11, when a vector Z ′ that passes through a plane represented by two vectors of Ya and Z and is perpendicular to Ya is introduced, the relationship of Expression (2) and Expression (3) is established. In the formula (3), c is a constant. From the formula (2) and the formula (3), Z ′ is expressed as the formula (4). Furthermore, when a vector perpendicular to Ya and Z ′ is X ′, X ′ is expressed by the equation (5).

  As shown in FIG. 12, the vehicle body coordinate system COM is obtained by rotating the coordinate system [X ′, Ya, Z ′] around the Ya axis by the roll angle θ5 described above. It is expressed as follows.

  Further, the processing unit 44 acquires the detection results of the first stroke sensor 18A, the second stroke sensor 18B, and the third stroke sensor 18C, and uses the acquired detection results, the boom 6, the arm 7, and the bucket 9 described above. The current inclination angles θ1, θ2, and θ3 are obtained. The coordinates P3 (xa3, ya3, za3) of the second axis AX2 at the center in the width direction of the tilt pin 17 in the vehicle body coordinate system COM are the inclination angles θ1, θ2, θ3, the boom 6, the arm 7, and the connecting member 8, respectively. Using the lengths L1, L2, and L3, the lengths can be obtained by Expression (7), Expression (8), and Expression (9).

  In the vehicle body coordinate system COM, the coordinates P4 ′ (xa4, ya4, za4) of the current cutting edge position with reference to the coordinates P3 (xa3, ya3, za3) are the bucket inclination angle θ4 detected by the bucket inclination sensor 18D, and Using the length L 4 of the bucket 9, it can be obtained by Expression (10), Expression (11), and Expression (12). Expression (10) is an expression for obtaining the distance of xa4 shown in FIG. Further, Expression (11) is an expression for obtaining the distance (ya4) between the coordinates ya3 and ya4 ′ shown in FIG. Furthermore, Expression (12) is an expression for obtaining the distance (za4) between the coordinates za3 and za4 ′ shown in FIG. This coordinate P4 ′ (xa4, ya4, za4) is, as shown in FIG. 13, the width direction central axis CLb of the bucket 9, that is, half of the width W of the bucket 9 from both sides of the bucket 9 (W × (1/2 ) = The coordinates of the cutting edge 9T at the position of W / 2).

  The coordinates P4 ′ (xa4, ya4, za4) are the positions of the cutting edge 9T at the center in the width direction of the bucket 9 when the bucket 9 is inclined by the inclination angle θ4 with respect to the third axis AX3, as shown in FIG. is there. The bucket inclination angle θ4 is an angle of a cutting edge line LBT that is a straight line connecting the cutting edges 9T of the plurality of cutting edges 9B with the third axis AX3 as a reference. The bucket inclination angle θ4 is positive in the clockwise direction when viewed from the upper swing body 3 side of the excavator 100. As can be seen from FIG. 13, xa4 can be obtained as in Expression (10) using the bucket inclination angle θ4 and the length L4 of the bucket 9. Further, as can be seen from FIG. 14, ya4 and za4 can be obtained as in Expression (11) and Expression (12) using the inclination angles θ1, θ2, θ3, θ4 and the length L4 of the bucket 9. As shown in FIG. 13, the distance L4a obtained by calculating L4 × sin (π−θ4) is the distance L4a shown in FIG.

  As described above, the coordinate P4 '(xa4, ya4, za4) is based on the coordinate P3 (xa3, ya3, za3) of the second axis AX2. Therefore, the coordinates (xat, yat, zat) of the cutting edge 9T of the bucket 9 in the vehicle main body coordinate system COM are coordinates P3 (xa3, ya3, za3) and coordinates P4 ′ (xa4, ya4, za4) as can be seen from FIG. ) And (13), (14), and (15). The coordinates P4 (xat, yat, zat) of the current cutting edge position in the vehicle main body coordinate system COM are the coordinates of the cutting edge 9T at the center in the width direction of the bucket 9, similarly to the coordinates P4 '(xa4, ya4, za4). The blade edge 9T of the bucket 9 moves in the Ya-Za plane of the vehicle body coordinate system COM. The coordinates P4G of the current cutting edge position in the global coordinate system COG can be obtained by Expression (16).

  When the processing unit 44 obtains the current cutting edge position in the global coordinate system COG in step S102, the processing proceeds to step S103. In step S103, the processing unit 44 obtains an angle between the cutting edge 9T and the target surface 70 as a cutting edge inclination angle from the current cutting edge position obtained in step S102.

  For example, when obtaining the target surface line 79 and the like shown in FIGS. 8 and 9, the processing unit 44 is based on the current cutting edge position calculated as described above and the design terrain data stored in the storage unit 43. 7, an intersection line 80 between the three-dimensional design landform and the Ya-Za plane 77 (plane 77 in the vehicle body coordinate system) passing through the blade edge 9T of the bucket 9 is calculated. And the process part 44 displays the part which passes along the target surface 70 among this intersection 80 as a target surface line 79 mentioned above on a guidance screen. The intersection line 80 may be calculated by the YZ plane 77 in the global coordinate system. Which coordinate system is calculated can be changed by an operator operating a switching key (not shown) of the input unit 41. can do. Next, a method for obtaining the blade edge inclination angle will be described.

(Inclination angle of cutting edge)
15 and 16 are explanatory diagrams of a method for obtaining the blade edge inclination angle. The cutting edge inclination angle θd shown in FIG. 16 is an angle θd formed by the intersection CPL between the tilt rotation surface PRT and the target surface 70 shown in FIG. 15 and the cutting edge 9T, more specifically, the cutting edge row line LBT. The angle formed by the intersection line CPL and the cutting edge line LBT includes an angle θd ′ as shown in FIG. 16, but a smaller angle is selected from the angles θd and θd ′. The tilt rotation surface PRT is a plane that is orthogonal to the second axis AX2 that is the central axis of the tilt pin 17 and that passes through at least a part of the bucket 9. In the present embodiment, the tilt rotation surface PRT passes through the cutting edge 9T of the blade 9B of the bucket 9. More specifically, the tilt rotation surface PRT passes through the plurality of cutting edges 9T. For this reason, the blade edge row line LBT, which is a straight line connecting the blade edges 9T of the plurality of blades 9B, has a positional relationship parallel to the tilt rotation surface PRT and is included in the tilt rotation surface PRT.

  The tilt rotation surface PRT is orthogonal to (intersects with) the target surface 70. The angle formed between the intersecting line CPL and the cutting edge line LBT represents the degree of inclination of the bucket 9 with respect to the target surface 70, more specifically, the cutting edge 9T. For this reason, the angle formed by the intersecting line CPL between the two and the cutting edge line LBT is defined as a cutting edge inclination angle θd.

  When obtaining the tilt rotation surface PRT, for example, the processing unit 44 obtains the second axis AX2 from the position of the bucket 9, is orthogonal to the second axis AX2, and is positioned in the axial direction of the second axis AX2, and further, the bucket 9 A plane passing through a part of the plane is calculated, and the obtained plane is defined as a tilt rotation plane PRT. In the present embodiment, since the tilt rotation surface PRT passes through the plurality of cutting edges 9T of the bucket 9, the processing unit 44 is orthogonal to the second axis AX2, and the plurality of cutting edges 9T, more specifically, the cutting edge row line LBT. The plane that passes is defined as a tilt rotation plane PRT. The position of the bucket 9 (blade edge 9T) is determined by the information detected by the three-dimensional position sensor 23 and the inclination angle sensor 24 as described above, and the inclination angle θ1 detected by the first, second, and third stroke sensors 18A, 18B, and 18C. , Θ2, θ3, and information such as the inclination angle θ4 detected by the bucket inclination sensor 18D. The cutting edge row line LBT can be obtained using the current cutting edge position obtained in step S102. For example, the processing unit 44 forms a straight line (LBT indicated by a two-dot chain line in FIG. 16) that passes through the current cutting edge position, is orthogonal to the second axis AX2, and is inclined by the inclination angle θ4 with respect to the third axis AX3. , Can be obtained as a cutting edge line LBT. The cutting edge row line LBT is obtained in the global coordinate system COG.

  Next, the processing unit 44 calculates an intersection line CPL between the tilt rotation surface PRT and the target surface 70. At this time, the processing unit 44 includes the position information of the target surface 70 acquired from the design topography data created in advance stored in the storage unit 43 of the display control device 39 shown in FIG. 6 and the position information of the tilt rotation surface PRT. Based on the above, the intersection line CPL is obtained. The intersection line CPL is obtained, for example, in the global coordinate system COG.

  Next, the processing unit 44 obtains an angle θtg formed between the reference position (axis or plane) HL and the blade edge line LBT in the global coordinate system COG and an angle θpt formed between the reference position HL and the intersection line CPL. And the process part 44 calculates | requires the difference of (theta) tg and (theta) pt, and makes this the blade edge | tip inclination angle (theta) d. The processing unit 44 can obtain the cutting edge inclination angle θd by the method as described above.

  In the above example, for convenience of explanation, the blade edge line LBT and the intersection line CPL are obtained by the global coordinate system COG. However, when the blade edge inclination angle θd is obtained, both coordinate systems may be the same. Therefore, for example, the processing unit 44 obtains the cutting edge line LBT and the tilt rotation surface PRT in the vehicle body coordinate system COM, and converts the target surface 70 into the vehicle body coordinate system COM, thereby intersecting the vehicle body coordinate system COM. The CPL may be obtained and the blade edge inclination angle θd may be obtained.

  When the blade edge inclination angle θd is obtained in step S103, in step S104, the processing unit 44 displays posture information indicating information related to the posture of the bucket 9 on the screen 42P of the display unit 42 based on the obtained blade edge inclination angle θd. To do. The posture information indicating information related to the posture of the bucket 9 is, for example, a confrontation compass 73 expressed by a pattern. In the example shown in FIG. 16, the facing compass 73 is also shown for convenience. Actually, the facing compass 73 is displayed in, for example, a front view 53a of the rough excavation screen 53 displayed on the screen 42P of the display unit 42 shown in FIG. 8, or displayed on the screen 42P of the display unit 42 shown in FIG. It is shown in the front view 54a of the made delicate excavation screen 54. In the following description, it is assumed that the facing compass 73 is displayed in the screen 42P of the display unit 42.

  In the present embodiment, the processing unit 44 displays the angle of the pointer 73I of the facing compass 73 in a manner that indicates an angle corresponding to the magnitude of the blade tip inclination angle θd. That is, when the vertical direction of the screen 42P of the display unit 42 is used as a reference (angle 0 degree), an angle corresponding to the blade edge inclination angle θd (θd shown in the drawing of the facing compass 73 shown on the left side of FIG. 16). The pointer 73I is displayed by tilting the pointer 73I left or right with respect to the reference. By doing in this way, the operator of the excavator 100 can intuitively grasp how much the cutting edge 9T or the cutting edge row 9TG of the bucket 9 is inclined with respect to the target surface 70. As a result, the operator can intuitively understand how much the bucket 9 can be rotated about the second axis AX2 to bring the bucket 9 to face the target surface 70. Work efficiency is improved.

  In this manner, the processing unit 44 notifies the operator of the excavator 100 of an index for an operation of the facing compass 73 as information for assisting the operator (operator). In this embodiment, the operator's operation is assisted by displaying the degree of inclination of the bucket 9 with respect to the target plane 70 as an operation index by the facing compass 73. Thus, the display system can provide information for assisting the operation to the operator of the excavating machine having the tilt bucket. This information is particularly effective in assisting the operation of the operator when the bucket 9 that is a tilt bucket faces the target surface 70.

  For example, as illustrated in FIG. 16 and FIG. 16, the processing unit 44 sets the inclination of the pointer 73I of the directly facing compass 73 as the blade edge inclination angle θd. Further, the processing unit 44 sets the direction of inclination of the pointer 73I to the axis AXN (see FIG. 16) orthogonal to the intersection line CPL and the target plane 70 when the bucket 9 is viewed from the cab 4 side of the excavator 100. On the other hand, the bucket 9 is displayed while being tilted in the direction opposite to the direction in which the central axis CLb in the width direction is tilted. In the example shown in FIG. 16, the center axis CLb in the width direction is inclined toward the right side (R direction shown in FIG. 16) with respect to the axis AXN, so that the pointer 73I is indicated by the symbol U in FIG. It is displayed tilted to the left (L direction shown in FIG. 16) with respect to the direction shown.

  By doing so, the operator of the excavator 100 only has to operate the bucket 9 or the upper swing body 3 or the like so that the pointer 73I is directed upward while viewing the pointer 73I. Can be easily opposed. Further, by displaying the relationship between the direction of inclination of the bucket 9 (inclination of the central axis CLb in the width direction of the bucket 9 with respect to the axis AXN) and the direction in which the pointer 73I is inclined as described above, the bucket 9 and the target surface 70 are displayed. The direction of rotation about the central axis of the second axis AX2 (the TILR direction in the case of FIG. 16) and the rotation direction of the pointer 73I (the R direction in FIG. 16) coincide with each other so as to face each other. In the case of FIG. 16, when the rotation direction of the pointer 73I is the L direction, the rotation direction about the central axis of the second axis AX2 so that the bucket 9 faces the target surface 70 is the direction indicated by TILL. And both agree. For this reason, if the operator confirms the operation of the pointer 73I, the operator can intuitively grasp the operation direction when the bucket 9 is directly opposed to the target surface 70, so that work efficiency and work accuracy are improved. . Note that the bucket 9 facing the target surface 70 means that the blade edge row 91TG of the bucket 9 is parallel to the target surface 70. More specifically, it means that the blade edge line LBT and the above-described intersection line CPL are parallel to each other.

  Instead of rotating the pointer 73I of the compass 73 or in addition to rotating the pointer 73I, the processing unit 44, for example, at least one of the inclination information 86c and the target surface line 78 shown in FIG. May be moved according to the magnitude of the blade tip inclination angle θd (θe in FIG. 9). That is, the processing unit 44 may change the magnitude of the angle formed by the inclination information 86c corresponding to the cutting edge row line LBT and the target surface line 78 in accordance with the magnitude of the cutting edge inclination angle θd. Even in this case, it is possible to provide the operator of the excavator 100 with information for assisting the operation, in particular, information for assisting the operation when causing the bucket 9 to face the target surface 70.

  In the present embodiment, the processing unit 44 changes the display mode of the facing compass 73 displayed on the screen 42 </ b> P of the display unit 42 before and after the cutting edge 9 </ b> T of the bucket 9 faces the target surface 70. Make it. For example, when the cutting edge 9T faces the target surface 70, the processing unit 44 changes the color of the facing compass 73 from that before facing it, changes the shade of the facing compass 73, or changes the facing compass 73. Or blink. By doing in this way, the operator of the excavator 100 can surely recognize that the cutting edge 9T of the bucket 9 and the target surface 70 face each other, so that the work efficiency is improved. Further, when the blade edge 9T of the bucket 9 faces the target surface 70, the design of the facing compass 73 may be changed from that before facing and displayed. For example, when the blade edge 9T of the bucket 9 faces the target surface 70, the face-to-face compass 73 as posture information can be changed to a character meaning “face-to-face completion”, or the face-to-face completion can be intuitively viewed. A predetermined mark may be displayed as posture information. Further, as posture information, a number corresponding to the blade edge inclination angle θd may be displayed on the screen 42P of the display unit 42 instead of or together with the facing compass 73. The operator can operate the hydraulic excavator 100 so that the bucket 9 faces the target surface 70 so that the displayed blade tip inclination angle θd is close to zero.

  In this embodiment, when changing the aspect of the facing compass 73 displayed on the screen 42 </ b> P of the display unit 42, the processing unit 44 may use sound notification, for example. In this case, for example, before the cutting edge 9T of the bucket 9 directly faces the target surface 70, the processing unit 44 notifies the sound at a predetermined interval from the sound generator 46 shown in FIG. The interval between sounds is shortened as the intersection line CPL approaches parallel. When the cutting edge 9T of the bucket 9 faces the target surface 70, the processing unit 44 continuously notifies the sound for a predetermined time, and then stops the sound notification. In this way, the operator of the excavator 100 can recognize the direct facing between the blade edge 9T of the bucket 9 and the target surface 70 not only by the visual sense by the facing compass 73 but also by sound, so that the work efficiency is improved. Is further improved.

  As shown in FIGS. 8 and 9, the processing unit 44 sets the facing compass 73 to the end of the screen 42 </ b> P of the display unit 42 (in the example shown in FIGS. 8 and 9, Part). In this way, since the facing compass 73 is displayed at a position that does not interfere with the guidance screen displayed on the screen 42P, the operator can surely see the guidance screen. Moreover, it is preferable that the posture information display control according to the present embodiment is executed when the excavator 100 including the bucket 9 which is a tilt bucket constructs a slope, and the facing compass 73 is displayed. The tilt bucket is often used for slope construction. At the time of slope construction, the facing compass 73 is displayed based on the posture information display control according to this embodiment, so that the slope bucket is constructed. Work efficiency is improved.

  In the above description, the tilt rotation surface PRT passes through the cutting edges 9T of the plurality of blades 9B included in the bucket 9. By performing such posture information display control using the tilt rotation surface PRT, the blade tip inclination angle θd can be obtained at the position where the blade tip 9T of the blade 9B excavates the target surface 70. As a result, the accuracy of operation guidance using the facing compass 73 performed for the operator of the excavator 100 is improved. The tilt rotation surface PRT may be a plane that is orthogonal to the second axis AX2 that is the central axis of the tilt pin 17 and that passes through at least a part of the bucket 9. Although it is preferable to obtain the cutting edge inclination angle θd in a range close to the position where the cutting edge 9T of the cutting edge 9B excavates the target surface 70, the tilt rotation surface PRT has a cutting edge 9T of the bucket 9 in consideration of wear of the cutting edge 9T of the cutting edge 9B. It may pass through other parts. Therefore, the tilt rotation surface PRT may be such a plane.

  Although the present embodiment has been described above, the present embodiment is not limited to the above-described content. In addition, the above-described components include those that can be easily assumed by those skilled in the art, those that are substantially the same, and those in a so-called equivalent range. Furthermore, the above-described components can be appropriately combined. Furthermore, various omissions, substitutions, or changes of components can be made without departing from the scope of the present embodiment.

  For example, the contents of each guidance screen are not limited to those described above, and may be changed as appropriate. Further, some or all of the functions of the display control device 39 may be executed by a computer arranged outside the excavator 100. Further, the target work target is not limited to a plane such as the slope described above, but may be a point, a line, or a three-dimensional shape. The input unit 41 of the display input device 38 is not limited to a touch panel type, and may be configured by an operation member such as a hard key or a switch. That is, the display input device 38 may have a structure in which the display unit 42 and the input unit 41 are separated.

  In the above-described embodiment, the work machine 2 includes the boom 6, the arm 7, and the bucket 9, but the work machine 2 is not limited thereto, and any work machine that has at least the bucket 9 that is a tilt bucket may be used. In the above-described embodiment, the tilt angle of the boom 6, the arm 7, and the bucket 9 is detected by the first stroke sensor 18A, the second stroke sensor 18B, and the third stroke sensor 18C. Is not limited to these. For example, an angle sensor that detects the inclination angles of the boom 6, the arm 7, and the bucket 9 may be provided.

  Moreover, in this embodiment, although bucket inclination angle (theta) 4 was detected using the bucket inclination sensor 18D shown in FIG. 4, FIG. 6, it is not limited to this. Instead of the bucket tilt sensor 18D, for example, the bucket tilt angle θ4 may be detected using a stroke sensor that detects the stroke length of the tilt cylinder 13. In this case, the display control device 39, more specifically, the processing unit 44, uses the stroke length of the tilt cylinders 13 and 13 detected by the stroke sensor as the bucket inclination angle θ4, and the cutting edge of the bucket 9 relative to the third axis AX3 The inclination angle of 9T or the cutting edge row 9TG is obtained.

DESCRIPTION OF SYMBOLS 1 Vehicle main body 2 Working machine 3 Upper turning body 5 Traveling apparatus 6 Boom 7 Arm 8 Connecting member 9, 9a Bucket 9B, 9Ba Blade 9T, 9Ta Cutting edge 9TG, 9TGa Cutting edge row 10 Boom cylinder 11 Arm cylinder 12 Bucket cylinder 13 Tilt cylinder 15 Arm pin 16 Bucket pin 17 Tilt pin 18D Bucket tilt sensor 19 Position detection unit 25 Operating device 38 Display input device 39 Display control device 42 Display unit 42P Screen 43 Storage unit 44 Processing unit 70 Target surface 73 Direct compass 73I Pointer 100 Hydraulic excavator 101 Excavation Machine display system (display system)
AX1 1st axis AX2 2nd axis AX3 3rd axis CPL Intersecting line LBT Cutting edge line PRT Tilt rotation surface θ4 Bucket inclination angle (inclination angle)
θd Blade inclination angle

Claims (7)

The cutting edge is inclined with respect to the first axis and the third axis orthogonal to the second axis by rotating about the first axis and rotating about the second axis orthogonal to the first axis. Used for an excavating machine including a working machine having a bucket to perform and a main body to which the working machine is attached,
A vehicle state detection unit for detecting information on the current position and posture of the excavating machine;
A bucket inclination detector for detecting an inclination angle of the bucket with respect to the third axis as an inclination angle of the bucket;
A storage unit for storing at least position information of a target surface indicating a target shape of a work target;
The angle formed between the blade edge and the target surface is determined as the blade edge inclination angle from the position of the blade edge of the bucket obtained based on the information regarding the bucket inclination angle and the current position and posture of the excavating machine, and the obtained A processing unit for displaying posture information indicating information on the posture of the bucket on the screen of the display device based on a blade tip inclination angle;
Including drilling machine display system. The processor is
The display of the excavating machine according to claim 1, wherein an angle formed by an intersecting line intersecting the target plane and a plane perpendicular to the second axis and passing through the cutting edge of the bucket and the cutting edge is obtained as the cutting edge inclination angle. system. The processor is
The excavating machine according to claim 1 or 2, wherein a mode of the posture information displayed on a screen of the display device is different before and after the cutting edge of the bucket faces the target surface. Display system. The processor is
The excavating machine display system according to any one of claims 1 to 3, wherein the posture information is displayed on an end of a screen of the display device. The processor is
The display system for an excavating machine according to any one of claims 1 to 4, wherein when the excavating machine constructs a slope, the posture information is displayed on a screen of the display device. The cutting edge is inclined with respect to the first axis and the third axis orthogonal to the second axis by rotating about the first axis and rotating about the second axis orthogonal to the first axis. A work machine having a bucket to perform;
A main body to which the working machine is attached;
A traveling device provided in the main body,
A display system for an excavating machine according to any one of claims 1 to 5,
Including drilling machines. The cutting edge is inclined with respect to the first axis and the third axis orthogonal to the second axis by rotating about the first axis and rotating about the second axis orthogonal to the first axis. A work machine having a bucket to perform;
Used for excavating machine including a main body to which the working machine is attached;
A procedure for determining the position of the cutting edge of the bucket based on the information about the inclination angle of the bucket with respect to the third axis and the current position and posture of the excavating machine;
From the position of the cutting edge, a procedure for obtaining an angle between the cutting edge and an intersecting line where a plane perpendicular to the second axis and passing through the cutting edge of the bucket intersects the target surface as the cutting edge inclination angle;
A procedure for displaying posture information indicating information on the posture of the bucket on the screen of the display device based on the obtained blade edge inclination angle;
Computer program for display of excavating machines including.

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